From 4821bf391002c81eb05a282056d354b19ad6fd49 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 25 Jul 2023 12:13:24 +0200
Subject: [PATCH] update

---
 docker-compose.yaml | 45 ++++++++++++++++++---------------------------
 1 file changed, 18 insertions(+), 27 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 081ff87..2a58b92 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -90,33 +90,24 @@ services:
     # Needed to display graphical applications
     privileged: true
 
-    # # navigation
-    # navigation:
-    #   extends: overlay
-    #   command: >
-    #     ros2 launch bot_mini_bringup robot_navigation.launch.py
-    #     map_subscribe_transient_local:=true
-    #   devices:
-    #     - /dev/ttyUSB0:/dev/ttyUSB0
-    #     - /dev/ttyACM0:/dev/ttyACM0
-    #     - /dev/input/js0:/dev/input/js0
-    #   # Interactive shell
-    #   stdin_open: true
-    #   tty: true
-    #   # Networking and IPC for ROS 2
-    #   network_mode: host
-    #   ipc: host
-    #   # Needed to display graphical applications
-    #   privileged: true
-    #   environment:
-    #     # Allows graphical programs in the container.
-    #     - DISPLAY=${DISPLAY}
-    #     - QT_X11_NO_MITSHM=1
-    #     - NVIDIA_DRIVER_CAPABILITIES=all
-    #   volumes:
-    #     # Allows graphical programs in the container.
-    #     - /tmp/.X11-unix:/tmp/.X11-unix:rw
-    #     - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+  # navigation
+  navigation:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup robot_navigation.launch.py
+      map_subscribe_transient_local:=true
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/ttyACM0:/dev/ttyACM0
+      - /dev/input/js0:/dev/input/js0
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
 
     # # Behavior demo using Python and py_trees
     # demo-behavior-py: